Design And Maneuverability Analysis Of Large Underwater Glider

As a novel type of sensor-mounted platform,underwater glider provides a new opportunity for ocean observation,which has the advantages of large endurance and small energy consumption,making long-term ocean environment observation possible.The research object of this paper is a kind of large underwater glider,which can carry many sensors to execute complex tasks,measuring many types of marine information at the same time.Compared with the typical small underwater glider,it puts forward higher performance requirements for the maneuverability design.Firstly,based on the movement principle of the underwater glider,the hydrodynamic performance and motion characteristics of conventional layout and blend-wing-body layout are compared and analyzed,and the hydrodynamic shape scheme of the large underwater glider is determined.The maneuverability scheme of the large underwater glider is designed with reference to the control mode of the conventional small-scale underwater glider,and the combined control scheme of the center of the mass adjustment mechanism,the cross tail rudder and the tail propeller is determined.On the premise of keeping the main body shape and main dimensions of the underwater glider unchanged,the orthogonal test of the horizontal wing is designed,and the hydrodynamic performance of different models is analyzed.The structure design of the large underwater glider is completed.Secondly,in order to evaluate the maneuverability,the actual moving process of the large underwater glider is abstracted.On the basis of the momentum theorem and momentum moment theorem,a six degree of freedom space motion model is established when the large underwater glider is regarded as a rigid body,and the hydrodynamic force,buoyancy and gravity are regarded as external forces.Taking into account the underwater glider’s small angle of attack and small side slip angle,the equations of motion are further simplified.The maneuvering variables and hydrodynamic coefficients are given,and the stability and maneuverability of longitudinal and lateral motion are evaluated.Finally,combining with the sea trial data of the large underwater glider,the gliding speed,heading performance and pitching ability of the steady-state gliding stage are derived.The experimental data shows that the large underwater glider has good maneuverability and can meet the requirements of use,and also verifies the correctness of the motion model and evaluation results.